Electric power steering apparatus
First Claim
1. An electric power steering apparatus comprising:
- a torque sensor for detecting steering torque applied on a steering member of a vehicle;
a first control unit for outputting a first control signal to drive a motor for steering assist, based on the steering torque detected by said torque sensor;
a steering angle sensor for detecting a steering angle of said steering member;
a norm steering unit for outputting a norm steering angle, based on a norm steering model which defines the relation between the steering torque and the norm steering angle;
a second control unit for outputting a second control signal to drive said motor in order to reduce the difference between the norm steering angle outputted from said norm steering unit based on the steering torque and the detected steering angle; and
a first changing unit for switching between said first control signal and said second control signal;
wherein said norm steering unit has plural kinds of norm steering model, and further comprising a second changing unit for switching said plural kinds of norm steering model.
1 Assignment
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Accused Products
Abstract
An electric power steering apparatus comprising a torque sensor for detecting the steering torque applied on the steering member of a vehicle; the first control unit for outputting the first control signal to drive a motor for steering assist, based on the steering torque detected by the torque sensor; the steering angle sensor for detecting the steering angle of the steering member; the norm steering unit for outputting a norm steering angle, based on a norm steering model which defines the relation between the steering torque and the norm steering angle; the second control unit for outputting the second control signal to drive the motor in order to reduce the difference between the norm steering angle outputted from the norm steering unit based on the steering torque and the detected steering angle; and the changing unit for switching between the first control signal and the second control signal, thereby being capable of switching between the driving at the steering torque determined regardless of the conditions of the road surface and the driving at the steering torque of the conventional steering assist.
20 Citations
16 Claims
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1. An electric power steering apparatus comprising:
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a torque sensor for detecting steering torque applied on a steering member of a vehicle;
a first control unit for outputting a first control signal to drive a motor for steering assist, based on the steering torque detected by said torque sensor;
a steering angle sensor for detecting a steering angle of said steering member;
a norm steering unit for outputting a norm steering angle, based on a norm steering model which defines the relation between the steering torque and the norm steering angle;
a second control unit for outputting a second control signal to drive said motor in order to reduce the difference between the norm steering angle outputted from said norm steering unit based on the steering torque and the detected steering angle; and
a first changing unit for switching between said first control signal and said second control signal;
wherein said norm steering unit has plural kinds of norm steering model, and further comprising a second changing unit for switching said plural kinds of norm steering model. - View Dependent Claims (2, 3, 4, 5, 6)
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7. An electric power steering apparatus comprising:
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a torque sensor for detecting steering torque applied on a steering member of a vehicle;
a first control unit for outputting a first control signal to drive a motor for steering assist, based on the steering torque detected by said torque sensor;
a steering angle sensor for detecting a steering angle of said steering member;
a norm steering unit for outputting a norm steering angle, based on a norm steering model which defines the relation between the steering torque and the norm steering angle;
a second control unit for outputting a second control signal to drive said motor in order to reduce the difference between the norm steering angle outputted from said norm steering unit based on the steering torque and the detected steering angle; and
a first changing unit for switching between said first control signal and said second control signal;
further comprising a judging unit for judging whether behavior of said vehicle is abnormal or not;
wherein said first changing unit switches to said second control signal when said judging unit judges that the behavior of said vehicle is abnormal;
wherein said norm steering unit has plural kinds of norm steering model, and further comprising a second changing unit for switching said plural kinds of norm steering model. - View Dependent Claims (8, 9, 10, 11, 12)
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13. An electric power steering apparatus comprising:
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a torque sensor for detecting steering torque applied on a steering member of a vehicle;
a first control unit for outputting a first control signal to drive a motor for steering assist, based on the steering torque detected by said torque sensor;
a steering angle sensor for detecting a steering angle of said steering member;
a norm steering unit for outputting a norm steering angle, based on a norm steering model which defines the relation between the steering torque and the norm steering angle;
a second control unit for outputting a second control signal to drive said motor in order to reduce the difference between the norm steering angle outputted from said norm steering unit based on the steering torque and the detected steering angle; and
a first changing unit for switching between said first control signal and said second control signal;
wherein said second control unit comprises a deviation calculator for calculating a deviation of the detected steering angle from the norm steering angle;
a first amplifier for amplifying by a first gain the deviation calculated by said deviation calculator;
a steering angular speed calculator for calculating a steering angular speed from the detected steering angle;
a second amplifier for amplifying by a second gain the steering angular speed calculated by said steering angular speed calculator; and
a first subtracter for subtracting the steering angular speed amplified by said second amplifier from the deviation amplified by said first amplifier,subtraction results of said first subtracter being made said second control signal. - View Dependent Claims (14)
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15. An electric power steering apparatus comprising:
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a torque sensor for detecting steering torque applied on a steering member of a vehicle;
a first control unit for outputting a first control signal to drive a motor for steering assist, based on the steering torque detected by said torque sensor;
a steering angle sensor for detecting a steering angle of said steering member;
a norm steering unit for outputting a norm steering angle, based on a norm steering model which defines the relation between the steering torque and the norm steering angle;
a second control unit for outputting a second control signal to drive said motor in order to reduce the difference between the norm steering angle outputted from said norm steering unit based on the steering torque and the detected steering angle; and
a first changing unit for switching between said first control signal and said second control signal;
further comprising a judging unit for judging whether behavior of said vehicle is abnormal or not;
wherein said first changing unit switches to said second control signal when said judging unit judges that the behavior of said vehicle is abnormal;
wherein said second control unit comprises a deviation calculator for calculating a deviation of the detected steering angle from the norm steering angle;
a first amplifier for amplifying by a first gain the deviation calculated by said deviation calculator;
a steering angular speed calculator for calculating a steering angular speed from the detected steering angle;
a second amplifier for amplifying by a second gain the steering angular speed calculated by said steering angular speed calculator; and
a first subtracter for subtracting the steering angular speed amplified by said second amplifier from the deviation amplified by said first amplifier, subtraction results of said first subtracter being made said second control signal. - View Dependent Claims (16)
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Specification